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ALS-Community

ShadowfallStudios /ALS-Community

Replicated and optimized community version of Advanced Locomotion System V4 for Unreal Engine 5.4 with additional features & bug fixes

cpp animation optimization plug game-development blueprint unreal-engine ue4 als locomotion unreal-engine-4 ue4-plugin unreal-engine-plugin alsv4-cpp ue5 als-community advanced-locomotion-system unreal-engine-5 ue5-plugin

UpdatedJul 10, 2024
C++

roboterax /humanoid-gym

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transferhttps://arxiv.org/abs/2404.05695

machine-learning ai robotics artificial-intelligence control-systems locomotion humanoid-robot

UpdatedJan 26, 2025
Python

OpenLoco /OpenLoco

An open source re-implementation of Chris Sawyer's Locomotion

game windows macos linux c-plus-plus cmake simulation sdl2 transport help-wanted trains locomotion hacktoberfest transport-tycoon

UpdatedFeb 19, 2026
C++

Sixze /ALS-Refactored

Completely reworked and improved C++ version of Advanced Locomotion System V4.

plugin animation optimization unreal-engine locomotion advanced-locomotion-system unreal-engine-5

UpdatedFeb 8, 2026
C++

ethz-adrl /towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

robot computer-graphics eigen motion-planning ros trajectory-optimization locomotion nonlinear-programming collocation legged-robots biped quadruped physics-based-animation ipopt snopt xpp ifopt

UpdatedApr 17, 2023
C++

spot_mini_mini

OpenQuadruped /spot_mini_mini

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

open-source machine-learning environment control reinforcement-learning optimization terrain openai-gym ros locomotion spot walker quadruped gait openai-gym-environments pybullet gym-environment quadruped-robot-gaits quadruped-robots quadruped-robot

UpdatedOct 5, 2022
C++

naturerobots /mesh_navigation

The Mesh Navigation Stack: Efficient Mobile Robot Navigation in Uneven Terrain

control navigation ros mesh locomotion pathplanning 3d-path-planning

UpdatedFeb 13, 2026
C++

DRCL-USC /Hector_Simulation

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

robot mpc optimal-control locomotion humanoid legged-robots humanoid-control bipedal-locomotion-control

UpdatedJan 13, 2025
C++

gaiyi7788 /awesome-legged-locomotion-learning

A curated list of resources relevant to legged locomotion learning of robotics.

awesome reinforcement-learning robotics locomotion

UpdatedJul 10, 2023

adham-elarabawy /open-quadruped

An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.

machine-learning control reinforcement-learning robotics trajectory-generation locomotion 3d-printing trajectory bezier-path quadruped gait gait-generation quadruped-robots quadruped-robot

UpdatedAug 23, 2024
C++

idanarye /bevy-tnua

A floating character controller for Bevy

rust locomotion character-controller xpbd rapier2d bevy-plugin rapier3d

UpdatedJan 31, 2026
Rust

iit-DLSLab /Quadruped-PyMPC

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

optimization locomotion ros2 mujoco jax acados quadruped-robot

UpdatedJan 19, 2026
Python

dojo-sim /Dojo.jl

A differentiable physics engine for robotics

control reinforcement-learning robotics simulation motion-planning contact gradients friction trajectory-optimization locomotion system-identification differentiable

UpdatedSep 23, 2024
Julia

MarkFzp /Deep-Whole-Body-Control

[CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion

reinforcement-learning deep-learning robotics pytorch locomotion

UpdatedJan 17, 2024
Python

Derek-TH-Wang /quadruped_ctrl

MIT mini cheetah quadruped robot simulated in pybullet environment using ros.

algorithm robot mit simulation terrain ros mpc locomotion quadruped gait pybullet quadruped-robot mini-cheetah

UpdatedJun 14, 2022
C++

leggedrobotics /xpp

Visualization of Motions for Legged Robots in ros-rviz

visualization robotics computer-graphics motion-planning ros locomotion rviz legged-robots zmp physics-based-animation

UpdatedDec 9, 2021
C++

upkie

upkie /upkie

Open-source wheeled biped robots

python reinforcement-learning robotics simulation locomotion pid-control legged-robots legged-robotics model-predictive-control wheeled-biped

UpdatedFeb 11, 2026
Python

ReinFlow /ReinFlow

[NeurIPS 2025] Flow x RL. "ReinFlow: Fine-tuning Flow Policy with Online Reinforcement Learning". Support VLAs e.g., pi0, pi0.5. Fully open-sourced.

flow robotics rl manipulation locomotion vla robot-learning fine-tuning post-training actorcritic pi0 policygradient finetuning-rl visuomotor finetuning-vision-models flowmatching onlinerl

UpdatedDec 23, 2025
Python

RatInABox

RatInABox-Lab /RatInABox

A python package for simulating movement and spatial cell types (e.g. place cells, grid cells) in continuous environments.

reinforcement-learning simulation motion neuroscience box computational-neuroscience rat gym neurons continuous modelling locomotion ephys trajectory hippocampus gym-environment modelling-biological-systems grid-cells place-cells boundary-vector-cells

UpdatedJan 8, 2026
Python

manumerous /wb_humanoid_mpc

Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control

ai robotics optimization nonlinear planning data-generation mpc locomotion walking humanoid-robot humanoid wholebodycontrol

UpdatedDec 27, 2025
C++

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